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<div class="title">HardwareInterface.cpp</div>  </div>
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<a href="../../de/d57/_hardware_interface_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//#include &quot;HardwareInterface.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">//#include &quot;main.h&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//#include &lt;sys/timerfd.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//#include &lt;thread&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//#include &lt;pthread.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//#include &lt;errno.h&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//#include &lt;iostream&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//#include &lt;sched.h&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//#include &lt;sys/time.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//#include &lt;sys/mman.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">//#include &lt;unistd.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">//#include &lt;signal.h&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">//#include &lt;string.h&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">//#include &lt;pthread.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">//#include &lt;time.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">//#include &lt;lcm/lcm.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">//#include &lt;thread&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// static constexpr int taskPriority = 49;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"></span><span class="comment">// * Initialize the robot hardware</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// */</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// HardwareInterface::HardwareInterface() {</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">//  prefaultStack();</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">//  setupRT();</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">//}</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"></span><span class="comment">// * Make sure there are no page faults when accessing the stack</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// */</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">// void HardwareInterface::prefaultStack() {</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">//  constexpr int stackSize = 24*1024;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">//  volatile unsigned char stack[stackSize];</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">//  stack[stackSize/2] = 2;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">//  memset((void*)stack,0,stackSize);</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">//  if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">//    printf(&quot;[HardwareInterface] failed to mlockall.  This is likely because</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">//    cheetah wasn&#39;t run as root, and is okay for simulation.\n&quot;);</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">//  }</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">//}</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">// void HardwareInterface::setupRT() {</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">//    sched_param params;</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">//    params.sched_priority = taskPriority;</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">//    sched_setscheduler(0, SCHED_FIFO, &amp;params);</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">//}</span></div></div><!-- fragment --></div><!-- contents -->
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